CN112344927A - Mounting error compensation method for miniaturized MEMS (micro-electromechanical systems) inertial measurement system - Google Patents

Mounting error compensation method for miniaturized MEMS (micro-electromechanical systems) inertial measurement system Download PDF

Info

Publication number
CN112344927A
CN112344927A CN202011115798.6A CN202011115798A CN112344927A CN 112344927 A CN112344927 A CN 112344927A CN 202011115798 A CN202011115798 A CN 202011115798A CN 112344927 A CN112344927 A CN 112344927A
Authority
CN
China
Prior art keywords
accelerometer
axis
orthogonal
error compensation
compensating
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202011115798.6A
Other languages
Chinese (zh)
Other versions
CN112344927B (en
Inventor
袁书博
陈安升
扈光锋
侯凤霞
林梦娜
刘垒
徐超
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Automation Control Equipment Institute BACEI
Original Assignee
Beijing Automation Control Equipment Institute BACEI
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Automation Control Equipment Institute BACEI filed Critical Beijing Automation Control Equipment Institute BACEI
Priority to CN202011115798.6A priority Critical patent/CN112344927B/en
Publication of CN112344927A publication Critical patent/CN112344927A/en
Application granted granted Critical
Publication of CN112344927B publication Critical patent/CN112344927B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Gyroscopes (AREA)

Abstract

The invention discloses a mounting error compensation method of a miniaturized MEMS (micro-electromechanical systems) inertial measurement system, which comprises the steps of firstly establishing an orthogonal accelerometer system, taking an X axis of the accelerometer system as an X axis, taking an intersection line of a vertical plane of the X axis of the accelerometer system and a plane formed by an accelerometer X, Y as a Y axis of the accelerometer system, and taking a Z axis of the accelerometer system and a X, Y axis as a right-hand system. And (3) compensating the gyroscope and the accelerometer to an orthogonal accelerometer system, and then compensating the orthogonal accelerometer system to the shell system for mounting error compensation. The method of the invention compensates the orthogonal accelerometer system to the shell system on the basis of compensating the gyroscope and the accelerometer to the orthogonal accelerometer system in the current common installation error compensation algorithm, thereby improving the system precision.

Description

Mounting error compensation method for miniaturized MEMS (micro-electromechanical systems) inertial measurement system
Technical Field
The invention relates to a method for compensating installation errors of an inertial measurement system, in particular to a method for compensating installation errors of the inertial measurement system when the difference between a sensitive axis of a device and a coordinate axis of a shell is large.
Background
Due to the requirements of volume and weight, circuits such as an inertia sensitive device and a processor need to be fixedly connected to a shell in an adhesive mode, in the adhesive process, due to the fact that the size and the thickness of glue are different, a sensitive shaft of the sensitive device cannot be completely overlapped with the coordinate of the shell, the deviation degree can reach 5 degrees, glue can deform when the temperature changes, and the sensitive shaft of the sensitive device can change under the full-temperature condition. The commonly used compensation method at present is to compensate the gyro accelerometer to an orthogonal accelerometer system (the X axis of the accelerometer system is taken as the X axis of the accelerometer system, the intersection line of the vertical plane of the X axis of the accelerometer system and the plane formed by the accelerometer X, Y is taken as the Y axis of the accelerometer system, and the Z axis of the accelerometer system and the X, Y axis are taken as the right hand system), and the system has larger deviation with the shell system and also changes at the full temperature, which affects the measurement of the system
Disclosure of Invention
A mounting error compensation method for a miniaturized MEMS inertial measurement system is provided, and the problem that a device coordinate system and a shell coordinate system are not coincident is solved.
The technical scheme of the invention is as follows:
a method for compensating installation errors of a miniaturized MEMS inertial measurement system comprises the following steps:
establishing an orthogonal accelerometer system, wherein the X axis of the accelerometer system is used as the X axis of the accelerometer system, the intersection line of the vertical plane of the X axis of the accelerometer system and the plane formed by the accelerometer X, Y is used as the Y axis of the accelerometer system, and the Z axis of the accelerometer system and the X, Y axis form a right-handed system;
compensating the gyroscope and the accelerometer to an orthogonal accelerometer system;
compensating the orthogonal accelerometer system to the housing system;
and carrying out installation error compensation.
Further, the orthogonal accelerometer system is compensated to the housing system, and the installation error compensation equation is as follows:
Figure BDA0002730147310000021
Figure BDA0002730147310000022
wherein:
Figure BDA0002730147310000023
is the acceleration of the system s and is,
Figure BDA0002730147310000024
is the measurement of the accelerometer under S,
deltaa is the mounting error of the accelerometer,
Figure BDA0002730147310000025
is the rotation angular rate in the S system,
Figure BDA0002730147310000026
is the measured value of the lower gyro in S system,
delta G is a gyro installation error;
alpha and gamma are obtained by X, Z accelerometer output when the system is at the set level, and the X accelerometer output is f when the system is at the set levelxThe output of the Z accelerometer is fzAnd then:
α＝fx·g
γ＝fz·g
beta is obtained by the output of the Y accelerometer after the system rotates 90 degrees around the X axis, and the output of the Y accelerometer is f under the assumption that the system rotates 90 degrees around the X axisyAnd then:
β＝fy·g
calculating according to alpha, beta and gamma
Figure BDA0002730147310000027
Figure BDA0002730147310000028
Is a transformation matrix of the S system and b system
Figure BDA0002730147310000029
The equation can be given by the characteristics of the orthogonal unit array and its physical meaning:
Figure BDA0002730147310000031
from the equation
Figure BDA0002730147310000032
For a glued MEMS system, the orthogonal accelerometer system and the shell system (system b) have larger deviation, and the method of the invention compensates the orthogonal accelerometer system to the shell system on the basis that the gyroscope and the accelerometer are compensated to the orthogonal accelerometer system in the currently common installation error compensation algorithm, thereby improving the system precision.
Drawings
FIG. 1 accelerometer installation error compensation;
FIG. 2 gyro installation error compensation;
FIG. 3 is a diagram of an accelerometer in relation to a housing.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention provides a compensation algorithm for compensating a device coordinate system to a shell system, which solves the problem that the device coordinate system and the shell coordinate system are not coincident.
1. Currently common installation error compensation algorithm
Due to the requirement of volume and weight, the miniaturized MEMS inertial measurement system cannot fix the inertia sensitive device, the processor and other circuits by using screws (the volume and the weight are not allowed), and needs to be fixedly connected to the shell by using an adhesive way.
The IMU of the inertial navigation system is orthogonally connected to the shell by three gyros and three accelerometers. Because the volume of gluing is big or small, thickness is different at the gluey in-process of reality, can't accomplish gyro assembly coordinate system and accelerometer assembly coordinate system and casing coordinate system complete coincidence, have installation error to glue also can produce deformation when temperature variation by oneself, lead to the condition of full temperature installation error can change.
The currently common installation error compensation method is to compensate the gyro accelerometer to an orthogonal accelerometer system S (the X axis of the accelerometer system is used as the X axis of the accelerometer system, the intersection line of the vertical plane of the X axis of the accelerometer system and the plane formed by the accelerometer X, Y is used as the Y axis of the accelerometer system, and the Z axis of the accelerometer system and the X, Y axis form a right-handed system), and the accelerometer installation error compensation is shown in fig. 1:
gyro mounting error compensation as shown in fig. 2:
the installation error compensation equation of the gyroscope and the accelerometer is as follows:
Figure BDA0002730147310000041
Figure BDA0002730147310000042
wherein:
Figure BDA0002730147310000043
acceleration of s system
Figure BDA0002730147310000044
S is the measured value of the lower accelerometer;
δ A: mounting error of the accelerometer;
Figure BDA0002730147310000045
a rotation angular rate in the S system;
Figure BDA0002730147310000046
s is a lower gyro measurement value;
δ G: and (5) installation error of the gyroscope.
Figure BDA0002730147310000051
Figure BDA0002730147310000052
As shown in the figure, the orthogonal accelerometer system is an orthogonal coordinate system established by taking an accelerometer X axis as a reference axis, and the X accelerometer has large deviation from the shell system and also changes under the full temperature, so the accelerometer system is not overlapped with the shell system and is influenced by the temperature.
2. Improved installation error compensation algorithm
The current common installation error compensation algorithm is to compensate the gyroscope and the accelerometer to an orthogonal accelerometer system, for a glued MEMS system, the orthogonal accelerometer system has larger deviation with a shell system (b system), and the orthogonal accelerometer system needs to be compensated to the shell system, so that the system precision is improved. The relationship between the accelerometer system and the housing system is shown in FIG. 3
Where α and γ can be obtained from X, Z accelerometer outputs at the system placement level, assuming that the X accelerometer output is f at the system placement levelx(unit: g), the Z accelerometer output is fz(unit: g), then:
α＝fx·g
γ＝fz·g
beta can be obtained by the output of the Y accelerometer after the system rotates 90 degrees around the X axis, and the output of the Y accelerometer is assumed to be f when the system rotates 90 degrees around the X axisy(unit: g), then:
β＝fy·g
calculating according to alpha, beta and gamma
Figure BDA0002730147310000053
Figure BDA0002730147310000054
Is a transformation matrix of the system S and the system b. Is provided with
Figure BDA0002730147310000055
The equation can be given by the characteristics of the orthogonal unit array and its physical meaning:
the above embodiments are only for explaining and explaining the technical solution of the present invention, but should not be construed as limiting the scope of the claims. It should be clear to those skilled in the art that any simple modification or replacement based on the technical solution of the present invention may be adopted to obtain a new technical solution, which falls within the scope of the present invention.

Claims (2)

1. A method for compensating installation errors of a miniaturized MEMS inertial measurement system is characterized by comprising the following steps:
establishing an orthogonal accelerometer system, wherein the X axis of the accelerometer system is used as the X axis of the accelerometer system, the intersection line of the vertical plane of the X axis of the accelerometer system and the plane formed by the accelerometer X, Y is used as the Y axis of the accelerometer system, and the Z axis of the accelerometer system and the X, Y axis form a right-handed system;
compensating the gyroscope and the accelerometer to an orthogonal accelerometer system;
compensating the orthogonal accelerometer system to the housing system;
and carrying out installation error compensation.
2. The method of claim 1, wherein the orthogonal accelerometer system is compensated to the housing system, and the mounting error compensation equation is as follows:
Figure FDA0002730147300000011
Figure FDA0002730147300000012
wherein:
Figure FDA0002730147300000013
is the acceleration of the system s and is,
Figure FDA0002730147300000014
is the measurement of the accelerometer under S,
deltaa is the mounting error of the accelerometer,
Figure FDA0002730147300000015
is the rotation angular rate in the S system,
Figure FDA0002730147300000016
is the measured value of the lower gyro in S system,
delta G is a gyro installation error;
alpha and gamma are obtained by X, Z accelerometer output when the system is at the set level, and the X accelerometer output is f when the system is at the set levelxThe output of the Z accelerometer is fzAnd then:
α＝fx·g
γ＝fz·g
beta is obtained by the output of the Y accelerometer after the system rotates 90 degrees around the X axis, and the output of the Y accelerometer is f under the assumption that the system rotates 90 degrees around the X axisyAnd then:
β＝fy·g
calculating according to alpha, beta and gamma
Figure FDA0002730147300000021
Figure FDA0002730147300000022
Is a transformation matrix of the S system and b system
Figure FDA0002730147300000023
The equation can be given by the characteristics of the orthogonal unit array and its physical meaning:
Figure FDA0002730147300000024
from the equation
Figure FDA0002730147300000025
CN202011115798.6A 2020-10-19 2020-10-19 Installation error compensation method for miniaturized MEMS inertial measurement system Active CN112344927B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011115798.6A CN112344927B (en) 2020-10-19 2020-10-19 Installation error compensation method for miniaturized MEMS inertial measurement system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011115798.6A CN112344927B (en) 2020-10-19 2020-10-19 Installation error compensation method for miniaturized MEMS inertial measurement system

Publications (2)

Publication Number Publication Date
CN112344927A true CN112344927A (en) 2021-02-09
CN112344927B CN112344927B (en) 2023-08-15

Family

ID=74362023

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011115798.6A Active CN112344927B (en) 2020-10-19 2020-10-19 Installation error compensation method for miniaturized MEMS inertial measurement system

Country Status (1)

Country Link
CN (1) CN112344927B (en)

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2896407B1 (en) * 1998-03-31 1999-05-31 防衛庁技術研究本部長 Inertial navigation device
CN101566483A (en) * 2009-05-22 2009-10-28 哈尔滨工程大学 Vibration error compensation method of fiber optic gyro strap-down inertia measurement system
CN103940445A (en) * 2014-04-10 2014-07-23 哈尔滨工程大学 Error compensation method of inertial components of single-axis rotation inertial navigation system
CN105371868A (en) * 2015-11-13 2016-03-02 北京航天控制仪器研究所 Error calibration and compensation method for accelerometer unit of inertially stabilized platform system
CN105806367A (en) * 2016-03-25 2016-07-27 中国人民解放军国防科学技术大学 Gyro-free inertial system error calibration method
CN108458725A (en) * 2017-11-17 2018-08-28 北京计算机技术及应用研究所 Systematic calibration method on Strapdown Inertial Navigation System swaying base
CN109470273A (en) * 2018-12-14 2019-03-15 中国船舶重工集团公司第七0七研究所 Strapdown inertial navigation system inertance element dismounts non-calibrating method
CN109631941A (en) * 2018-12-09 2019-04-16 西安航天精密机电研究所 A kind of Inertial Platform System accelerometer installation error method for precisely marking
CN110160554A (en) * 2019-04-30 2019-08-23 东南大学 A kind of single-shaft-rotation Strapdown Inertial Navigation System scaling method based on optimizing method
CN111678538A (en) * 2020-07-29 2020-09-18 中国电子科技集团公司第二十六研究所 Dynamic level meter error compensation method based on speed matching

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2896407B1 (en) * 1998-03-31 1999-05-31 防衛庁技術研究本部長 Inertial navigation device
CN101566483A (en) * 2009-05-22 2009-10-28 哈尔滨工程大学 Vibration error compensation method of fiber optic gyro strap-down inertia measurement system
CN103940445A (en) * 2014-04-10 2014-07-23 哈尔滨工程大学 Error compensation method of inertial components of single-axis rotation inertial navigation system
CN105371868A (en) * 2015-11-13 2016-03-02 北京航天控制仪器研究所 Error calibration and compensation method for accelerometer unit of inertially stabilized platform system
CN105806367A (en) * 2016-03-25 2016-07-27 中国人民解放军国防科学技术大学 Gyro-free inertial system error calibration method
CN108458725A (en) * 2017-11-17 2018-08-28 北京计算机技术及应用研究所 Systematic calibration method on Strapdown Inertial Navigation System swaying base
CN109631941A (en) * 2018-12-09 2019-04-16 西安航天精密机电研究所 A kind of Inertial Platform System accelerometer installation error method for precisely marking
CN109470273A (en) * 2018-12-14 2019-03-15 中国船舶重工集团公司第七0七研究所 Strapdown inertial navigation system inertance element dismounts non-calibrating method
CN110160554A (en) * 2019-04-30 2019-08-23 东南大学 A kind of single-shaft-rotation Strapdown Inertial Navigation System scaling method based on optimizing method
CN111678538A (en) * 2020-07-29 2020-09-18 中国电子科技集团公司第二十六研究所 Dynamic level meter error compensation method based on speed matching

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
江奇渊;汤建勋;袁保伦;韩松来;: "激光陀螺捷联惯导尺寸效应误差分析与补偿", 红外与激光工程, no. 04, pages 1110 - 1114 *

Also Published As

Publication number Publication date
CN112344927B (en) 2023-08-15

Similar Documents

Publication Publication Date Title
CN111678538B (en) Dynamic level error compensation method based on speed matching
US11680962B2 (en) Sensor module, measurement system, and vehicle
CN102879793B (en) Super-miniature GPS (global positioning system), INS (inertial navigation system), magnetometer and barometer integrated navigation system
CN106767917B (en) A kind of oblique redundant inertial navigation system calibrated error model modelling approach
CN202974288U (en) Miniature strapdown navigation attitude system
CN108225313B (en) Attitude and heading reference instrument based on redundant MEMS sensor
CN106444809B (en) Unmanned aerial vehicle flight controller
CN108710001B (en) Two-axis integrated gyroscope accelerometer and servo control method
Pazychev et al. Low-Cost Navigation System for UAV
CN108534799B (en) Method and device for correcting cross-stripe output of triaxial fiber-optic gyroscope by using MEMS (micro-electromechanical systems)
CN112697143B (en) High-precision carrier dynamic attitude measurement method and system
CN104897153A (en) Carrier attitude measuring system based on MEMS (micro-electromechanical systems) and MR (magnetic-resistance) sensors
CN112665570B (en) MEMS gyroscope zero-bias on-orbit simplified engineering calculation method based on star sensor
CN109631952B (en) Method for calibrating installation error of attitude reference mirror of optical gyro component for spacecraft
CN105091883A (en) MEMS-integrated IMU temperature compensation improving method
CN112344927A (en) Mounting error compensation method for miniaturized MEMS (micro-electromechanical systems) inertial measurement system
CN108593966A (en) Two axis frame pendulous accelerometer self-calibrating methods of one kind and system
CN214951273U (en) Position indicating system
CN115931001A (en) Inertial measurement unit calibration method and device, computer equipment and storage medium
CN111780787B (en) MEMS inertial measurement unit calibration method based on optical fiber inertia assistance
CN112729280A (en) Micro-inertia attitude measurement device and method based on polyhedral array structure
CN216483089U (en) Fiber-optic gyroscope north seeker
CN113639766B (en) System-level calibration method comprising non-orthogonal angle in biaxial rotation inertial navigation system
Miyazaki et al. Initial Investigation of Physically Tightly-Coupled Single-Chip MEMS IMU for Mutual Compensation of Two Differential Resonant Accelerometers and a Mode-Matched Donut-Mass Gyroscope
CN115950456B (en) Accelerometer calibration method based on gyroscope angular rate measurement

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant